u-blox / gnss

This class provides an API to communicate with a u-blox GNSS chip. The files here were originally part of the C027_Support library (https://developer.mbed.org/teams/ublox/code/C027_Support/ at revision 138:dafbbf31bf76) but have been separated out, primarily for use on the u-blox C030 board where the cellular interace portion of the C027_Support library will instead be provided through the new mbed Cellular API.

Dependents:   example-ublox-at-cellular-interface-ext example-low-power-sleep example-C030-out-of-box-demo example-C030-out-of-box-demo ... more

gnss.cpp@15:105cf3ca48c9, 2018-07-24 (annotated)

Committer:
fahim.alavi@u-blox.com
Date:
Tue Jul 24 16:02:21 2018 +0500
Revision:
15:105cf3ca48c9
Parent:
13:10108cd3ad23
Child:
16:cb9861f0f4d8
Baud rate increased

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rob.meades@u-blox.com 1:ef70a58a6c98 1 /* mbed Microcontroller Library
rob.meades@u-blox.com 1:ef70a58a6c98 2 * Copyright (c) 2017 u-blox
rob.meades@u-blox.com 1:ef70a58a6c98 3 *
rob.meades@u-blox.com 1:ef70a58a6c98 4 * Licensed under the Apache License, Version 2.0 (the "License");
rob.meades@u-blox.com 1:ef70a58a6c98 5 * you may not use this file except in compliance with the License.
rob.meades@u-blox.com 1:ef70a58a6c98 6 * You may obtain a copy of the License at
rob.meades@u-blox.com 1:ef70a58a6c98 7 *
rob.meades@u-blox.com 1:ef70a58a6c98 8 * http://www.apache.org/licenses/LICENSE-2.0
rob.meades@u-blox.com 1:ef70a58a6c98 9 *
rob.meades@u-blox.com 1:ef70a58a6c98 10 * Unless required by applicable law or agreed to in writing, software
rob.meades@u-blox.com 1:ef70a58a6c98 11 * distributed under the License is distributed on an "AS IS" BASIS,
rob.meades@u-blox.com 1:ef70a58a6c98 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
rob.meades@u-blox.com 1:ef70a58a6c98 13 * See the License for the specific language governing permissions and
rob.meades@u-blox.com 1:ef70a58a6c98 14 * limitations under the License.
rob.meades@u-blox.com 1:ef70a58a6c98 15 */
rob.meades@u-blox.com 1:ef70a58a6c98 16
rob.meades@u-blox.com 1:ef70a58a6c98 17 /**
rob.meades@u-blox.com 1:ef70a58a6c98 18 * @file gnss.cpp
rob.meades@u-blox.com 1:ef70a58a6c98 19 * This file defines a class that communicates with a u-blox GNSS chip.
rob.meades@u-blox.com 1:ef70a58a6c98 20 */
rob.meades@u-blox.com 1:ef70a58a6c98 21
rob.meades@u-blox.com 1:ef70a58a6c98 22 #include "mbed.h"
rob.meades@u-blox.com 1:ef70a58a6c98 23 #include "ctype.h"
rob.meades@u-blox.com 1:ef70a58a6c98 24 #include "gnss.h"
rob.meades@u-blox.com 1:ef70a58a6c98 25
rob.meades@u-blox.com 1:ef70a58a6c98 26 GnssParser::GnssParser(void)
rob.meades@u-blox.com 1:ef70a58a6c98 27 {
RobMeades 3:2a1cd49ead85 28 // Create the enable pin but set everything to disabled
RobMeades 2:b10ca4aa2e5e 29 _gnssEnable = NULL;
RobMeades 2:b10ca4aa2e5e 30
rob.meades@u-blox.com 4:82308d600690 31 #ifdef TARGET_UBLOX_C030
rob.meades@u-blox.com 1:ef70a58a6c98 32 _gnssEnable = new DigitalInOut(GNSSEN, PIN_OUTPUT, PushPullNoPull, 0);
RobMeades 5:af4baf3c67f3 33 #else
RobMeades 5:af4baf3c67f3 34 _gnssEnable = new DigitalInOut(GNSSEN, PIN_OUTPUT, PullNone, 1);
RobMeades 2:b10ca4aa2e5e 35 #endif
rob.meades@u-blox.com 1:ef70a58a6c98 36 }
rob.meades@u-blox.com 1:ef70a58a6c98 37
rob.meades@u-blox.com 1:ef70a58a6c98 38 GnssParser::~GnssParser(void)
rob.meades@u-blox.com 1:ef70a58a6c98 39 {
RobMeades 2:b10ca4aa2e5e 40 if (_gnssEnable != NULL) {
RobMeades 2:b10ca4aa2e5e 41 *_gnssEnable = 0;
RobMeades 2:b10ca4aa2e5e 42 delete _gnssEnable;
RobMeades 2:b10ca4aa2e5e 43 }
rob.meades@u-blox.com 1:ef70a58a6c98 44 }
rob.meades@u-blox.com 1:ef70a58a6c98 45
rob.meades@u-blox.com 1:ef70a58a6c98 46 void GnssParser::powerOff(void)
rob.meades@u-blox.com 1:ef70a58a6c98 47 {
rob.meades@u-blox.com 6:56eda66d585b 48 // Set the GNSS into backup mode using the command RMX-LPREQ
rob.meades@u-blox.com 1:ef70a58a6c98 49 struct { unsigned long dur; unsigned long flags; } msg = {0/*endless*/,0/*backup*/};
rob.meades@u-blox.com 1:ef70a58a6c98 50 sendUbx(0x02, 0x41, &msg, sizeof(msg));
rob.meades@u-blox.com 1:ef70a58a6c98 51 }
rob.meades@u-blox.com 1:ef70a58a6c98 52
bqam 13:10108cd3ad23 53 void GnssParser::cutOffPower(void)
bqam 13:10108cd3ad23 54 {
bqam 13:10108cd3ad23 55 //Disabling PA15 to cut off power supply
bqam 13:10108cd3ad23 56 if (_gnssEnable != NULL)
bqam 13:10108cd3ad23 57 *_gnssEnable = 0;
bqam 13:10108cd3ad23 58 wait_ms(1);
bqam 13:10108cd3ad23 59 }
bqam 13:10108cd3ad23 60
rob.meades@u-blox.com 1:ef70a58a6c98 61 void GnssParser::_powerOn(void)
rob.meades@u-blox.com 1:ef70a58a6c98 62 {
RobMeades 2:b10ca4aa2e5e 63 if (_gnssEnable != NULL) {
RobMeades 2:b10ca4aa2e5e 64 *_gnssEnable = 1;
RobMeades 2:b10ca4aa2e5e 65 }
rob.meades@u-blox.com 1:ef70a58a6c98 66 wait_ms (1);
rob.meades@u-blox.com 1:ef70a58a6c98 67 }
rob.meades@u-blox.com 1:ef70a58a6c98 68
rob.meades@u-blox.com 1:ef70a58a6c98 69 int GnssParser::_getMessage(Pipe<char>* pipe, char* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 70 {
rob.meades@u-blox.com 1:ef70a58a6c98 71 int unkn = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 72 int sz = pipe->size();
rob.meades@u-blox.com 1:ef70a58a6c98 73 int fr = pipe->free();
rob.meades@u-blox.com 1:ef70a58a6c98 74 if (len > sz)
rob.meades@u-blox.com 1:ef70a58a6c98 75 len = sz;
rob.meades@u-blox.com 1:ef70a58a6c98 76 while (len > 0)
rob.meades@u-blox.com 1:ef70a58a6c98 77 {
rob.meades@u-blox.com 1:ef70a58a6c98 78 // NMEA protocol
rob.meades@u-blox.com 1:ef70a58a6c98 79 pipe->set(unkn);
rob.meades@u-blox.com 1:ef70a58a6c98 80 int nmea = _parseNmea(pipe,len);
rob.meades@u-blox.com 1:ef70a58a6c98 81 if ((nmea != NOT_FOUND) && (unkn > 0))
rob.meades@u-blox.com 1:ef70a58a6c98 82 return UNKNOWN | pipe->get(buf,unkn);
rob.meades@u-blox.com 1:ef70a58a6c98 83 if (nmea == WAIT && fr)
rob.meades@u-blox.com 1:ef70a58a6c98 84 return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 85 if (nmea > 0)
rob.meades@u-blox.com 1:ef70a58a6c98 86 return NMEA | pipe->get(buf,nmea);
rob.meades@u-blox.com 1:ef70a58a6c98 87 // UBX protocol
rob.meades@u-blox.com 1:ef70a58a6c98 88
rob.meades@u-blox.com 1:ef70a58a6c98 89 pipe->set(unkn);
rob.meades@u-blox.com 1:ef70a58a6c98 90 int ubx = _parseUbx(pipe,len);
rob.meades@u-blox.com 1:ef70a58a6c98 91 if ((ubx != NOT_FOUND) && (unkn > 0))
rob.meades@u-blox.com 1:ef70a58a6c98 92 return UNKNOWN | pipe->get(buf,unkn);
rob.meades@u-blox.com 1:ef70a58a6c98 93 if (ubx == WAIT && fr)
rob.meades@u-blox.com 1:ef70a58a6c98 94 return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 95 if (ubx > 0)
rob.meades@u-blox.com 1:ef70a58a6c98 96 return UBX | pipe->get(buf,ubx);
rob.meades@u-blox.com 1:ef70a58a6c98 97
rob.meades@u-blox.com 1:ef70a58a6c98 98 // UNKNOWN
rob.meades@u-blox.com 1:ef70a58a6c98 99 unkn ++;
rob.meades@u-blox.com 1:ef70a58a6c98 100 len--;
rob.meades@u-blox.com 1:ef70a58a6c98 101 }
rob.meades@u-blox.com 1:ef70a58a6c98 102 if (unkn > 0)
rob.meades@u-blox.com 1:ef70a58a6c98 103 return UNKNOWN | pipe->get(buf,unkn);
rob.meades@u-blox.com 1:ef70a58a6c98 104 return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 105 }
rob.meades@u-blox.com 1:ef70a58a6c98 106
rob.meades@u-blox.com 1:ef70a58a6c98 107 int GnssParser::_parseNmea(Pipe<char>* pipe, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 108 {
rob.meades@u-blox.com 1:ef70a58a6c98 109 int o = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 110 int c = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 111 char ch;
rob.meades@u-blox.com 1:ef70a58a6c98 112 if (++o > len) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 113 if ('$' != pipe->next()) return NOT_FOUND;
rob.meades@u-blox.com 6:56eda66d585b 114 // This needs to be extended by crc checking
rob.meades@u-blox.com 1:ef70a58a6c98 115 for (;;)
rob.meades@u-blox.com 1:ef70a58a6c98 116 {
rob.meades@u-blox.com 1:ef70a58a6c98 117 if (++o > len) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 118 ch = pipe->next();
rob.meades@u-blox.com 1:ef70a58a6c98 119 if ('*' == ch) break; // crc delimiter
rob.meades@u-blox.com 1:ef70a58a6c98 120 if (!isprint(ch)) return NOT_FOUND;
rob.meades@u-blox.com 1:ef70a58a6c98 121 c ^= ch;
rob.meades@u-blox.com 1:ef70a58a6c98 122 }
rob.meades@u-blox.com 1:ef70a58a6c98 123 if (++o > len) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 124 ch = _toHex[(c >> 4) & 0xF]; // high nibble
rob.meades@u-blox.com 1:ef70a58a6c98 125 if (ch != pipe->next()) return NOT_FOUND;
rob.meades@u-blox.com 1:ef70a58a6c98 126 if (++o > len) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 127 ch = _toHex[(c >> 0) & 0xF]; // low nibble
rob.meades@u-blox.com 1:ef70a58a6c98 128 if (ch != pipe->next()) return NOT_FOUND;
rob.meades@u-blox.com 1:ef70a58a6c98 129 if (++o > len) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 130 if ('\r' != pipe->next()) return NOT_FOUND;
rob.meades@u-blox.com 1:ef70a58a6c98 131 if (++o > len) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 132 if ('\n' != pipe->next()) return NOT_FOUND;
rob.meades@u-blox.com 1:ef70a58a6c98 133 return o;
rob.meades@u-blox.com 1:ef70a58a6c98 134 }
rob.meades@u-blox.com 1:ef70a58a6c98 135
rob.meades@u-blox.com 1:ef70a58a6c98 136 int GnssParser::_parseUbx(Pipe<char>* pipe, int l)
rob.meades@u-blox.com 1:ef70a58a6c98 137 {
rob.meades@u-blox.com 1:ef70a58a6c98 138 int o = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 139 if (++o > l) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 140 if ('\xB5' != pipe->next()) return NOT_FOUND;
rob.meades@u-blox.com 1:ef70a58a6c98 141 if (++o > l) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 142 if ('\x62' != pipe->next()) return NOT_FOUND;
rob.meades@u-blox.com 1:ef70a58a6c98 143 o += 4;
rob.meades@u-blox.com 1:ef70a58a6c98 144 if (o > l) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 145 int i,j,ca,cb;
rob.meades@u-blox.com 1:ef70a58a6c98 146 i = pipe->next(); ca = i; cb = ca; // cls
rob.meades@u-blox.com 1:ef70a58a6c98 147 i = pipe->next(); ca += i; cb += ca; // id
rob.meades@u-blox.com 1:ef70a58a6c98 148 i = pipe->next(); ca += i; cb += ca; // len_lsb
rob.meades@u-blox.com 1:ef70a58a6c98 149 j = pipe->next(); ca += j; cb += ca; // len_msb
rob.meades@u-blox.com 1:ef70a58a6c98 150 j = i + (j << 8);
rob.meades@u-blox.com 1:ef70a58a6c98 151 while (j--)
rob.meades@u-blox.com 1:ef70a58a6c98 152 {
rob.meades@u-blox.com 1:ef70a58a6c98 153 if (++o > l) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 154 i = pipe->next();
rob.meades@u-blox.com 1:ef70a58a6c98 155 ca += i;
rob.meades@u-blox.com 1:ef70a58a6c98 156 cb += ca;
rob.meades@u-blox.com 1:ef70a58a6c98 157 }
rob.meades@u-blox.com 1:ef70a58a6c98 158 ca &= 0xFF; cb &= 0xFF;
rob.meades@u-blox.com 1:ef70a58a6c98 159 if (++o > l) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 160 if (ca != pipe->next()) return NOT_FOUND;
rob.meades@u-blox.com 1:ef70a58a6c98 161 if (++o > l) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 162 if (cb != pipe->next()) return NOT_FOUND;
rob.meades@u-blox.com 1:ef70a58a6c98 163 return o;
rob.meades@u-blox.com 1:ef70a58a6c98 164 }
rob.meades@u-blox.com 1:ef70a58a6c98 165
rob.meades@u-blox.com 1:ef70a58a6c98 166 int GnssParser::send(const char* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 167 {
rob.meades@u-blox.com 1:ef70a58a6c98 168 return _send(buf, len);
rob.meades@u-blox.com 1:ef70a58a6c98 169 }
rob.meades@u-blox.com 1:ef70a58a6c98 170
rob.meades@u-blox.com 1:ef70a58a6c98 171 int GnssParser::sendNmea(const char* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 172 {
rob.meades@u-blox.com 1:ef70a58a6c98 173 char head[1] = { '$' };
rob.meades@u-blox.com 1:ef70a58a6c98 174 char tail[5] = { '*', 0x00/*crc_high*/, 0x00/*crc_low*/, '\r', '\n' };
rob.meades@u-blox.com 1:ef70a58a6c98 175 int i;
rob.meades@u-blox.com 1:ef70a58a6c98 176 int crc = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 177 for (i = 0; i < len; i ++)
rob.meades@u-blox.com 1:ef70a58a6c98 178 crc ^= *buf++;
rob.meades@u-blox.com 1:ef70a58a6c98 179 i = _send(head, sizeof(head));
rob.meades@u-blox.com 1:ef70a58a6c98 180 i += _send(buf, len);
rob.meades@u-blox.com 1:ef70a58a6c98 181 tail[1] = _toHex[(crc > 4) & 0xF0];
rob.meades@u-blox.com 1:ef70a58a6c98 182 tail[2] = _toHex[(crc > 0) & 0x0F];
rob.meades@u-blox.com 1:ef70a58a6c98 183 i += _send(tail, sizeof(tail));
rob.meades@u-blox.com 1:ef70a58a6c98 184 return i;
rob.meades@u-blox.com 1:ef70a58a6c98 185 }
rob.meades@u-blox.com 1:ef70a58a6c98 186
rob.meades@u-blox.com 1:ef70a58a6c98 187 int GnssParser::sendUbx(unsigned char cls, unsigned char id, const void* buf /*= NULL*/, int len /*= 0*/)
rob.meades@u-blox.com 1:ef70a58a6c98 188 {
rob.meades@u-blox.com 1:ef70a58a6c98 189 char head[6] = { 0xB5, 0x62, cls, id, (char) len, (char) (len >> 8)};
rob.meades@u-blox.com 1:ef70a58a6c98 190 char crc[2];
rob.meades@u-blox.com 1:ef70a58a6c98 191 int i;
rob.meades@u-blox.com 1:ef70a58a6c98 192 int ca = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 193 int cb = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 194 for (i = 2; i < 6; i ++)
rob.meades@u-blox.com 1:ef70a58a6c98 195 {
rob.meades@u-blox.com 1:ef70a58a6c98 196 ca += head[i];
rob.meades@u-blox.com 1:ef70a58a6c98 197 cb += ca;
rob.meades@u-blox.com 1:ef70a58a6c98 198 }
rob.meades@u-blox.com 1:ef70a58a6c98 199 for (i = 0; i < len; i ++)
rob.meades@u-blox.com 1:ef70a58a6c98 200 {
rob.meades@u-blox.com 1:ef70a58a6c98 201 ca += ((char*)buf)[i];
rob.meades@u-blox.com 1:ef70a58a6c98 202 cb += ca;
rob.meades@u-blox.com 1:ef70a58a6c98 203 }
rob.meades@u-blox.com 1:ef70a58a6c98 204 i = _send(head, sizeof(head));
rob.meades@u-blox.com 1:ef70a58a6c98 205 i += _send(buf, len);
rob.meades@u-blox.com 1:ef70a58a6c98 206 crc[0] = ca & 0xFF;
rob.meades@u-blox.com 1:ef70a58a6c98 207 crc[1] = cb & 0xFF;
rob.meades@u-blox.com 1:ef70a58a6c98 208 i += _send(crc, sizeof(crc));
rob.meades@u-blox.com 1:ef70a58a6c98 209 return i;
rob.meades@u-blox.com 1:ef70a58a6c98 210 }
rob.meades@u-blox.com 1:ef70a58a6c98 211
rob.meades@u-blox.com 1:ef70a58a6c98 212 const char* GnssParser::findNmeaItemPos(int ix, const char* start, const char* end)
rob.meades@u-blox.com 1:ef70a58a6c98 213 {
rob.meades@u-blox.com 6:56eda66d585b 214 // Find the start
rob.meades@u-blox.com 1:ef70a58a6c98 215 for (; (start < end) && (ix > 0); start ++)
rob.meades@u-blox.com 1:ef70a58a6c98 216 {
rob.meades@u-blox.com 1:ef70a58a6c98 217 if (*start == ',')
rob.meades@u-blox.com 1:ef70a58a6c98 218 ix --;
rob.meades@u-blox.com 1:ef70a58a6c98 219 }
rob.meades@u-blox.com 6:56eda66d585b 220 // Found and check bounds
rob.meades@u-blox.com 1:ef70a58a6c98 221 if ((ix == 0) && (start < end) &&
rob.meades@u-blox.com 1:ef70a58a6c98 222 (*start != ',') && (*start != '*') && (*start != '\r') && (*start != '\n'))
rob.meades@u-blox.com 1:ef70a58a6c98 223 return start;
rob.meades@u-blox.com 1:ef70a58a6c98 224 else
rob.meades@u-blox.com 1:ef70a58a6c98 225 return NULL;
rob.meades@u-blox.com 1:ef70a58a6c98 226 }
rob.meades@u-blox.com 1:ef70a58a6c98 227
rob.meades@u-blox.com 1:ef70a58a6c98 228 bool GnssParser::getNmeaItem(int ix, char* buf, int len, double& val)
rob.meades@u-blox.com 1:ef70a58a6c98 229 {
rob.meades@u-blox.com 1:ef70a58a6c98 230 char* end = &buf[len];
rob.meades@u-blox.com 1:ef70a58a6c98 231 const char* pos = findNmeaItemPos(ix, buf, end);
rob.meades@u-blox.com 6:56eda66d585b 232 // Find the start
rob.meades@u-blox.com 1:ef70a58a6c98 233 if (!pos)
rob.meades@u-blox.com 1:ef70a58a6c98 234 return false;
rob.meades@u-blox.com 1:ef70a58a6c98 235 val = strtod(pos, &end);
rob.meades@u-blox.com 6:56eda66d585b 236 // Restore the last character
rob.meades@u-blox.com 1:ef70a58a6c98 237 return (end > pos);
rob.meades@u-blox.com 1:ef70a58a6c98 238 }
rob.meades@u-blox.com 1:ef70a58a6c98 239
rob.meades@u-blox.com 1:ef70a58a6c98 240 bool GnssParser::getNmeaItem(int ix, char* buf, int len, int& val, int base /*=10*/)
rob.meades@u-blox.com 1:ef70a58a6c98 241 {
rob.meades@u-blox.com 1:ef70a58a6c98 242 char* end = &buf[len];
rob.meades@u-blox.com 1:ef70a58a6c98 243 const char* pos = findNmeaItemPos(ix, buf, end);
rob.meades@u-blox.com 6:56eda66d585b 244 // Find the start
rob.meades@u-blox.com 1:ef70a58a6c98 245 if (!pos)
rob.meades@u-blox.com 1:ef70a58a6c98 246 return false;
rob.meades@u-blox.com 1:ef70a58a6c98 247 val = (int)strtol(pos, &end, base);
rob.meades@u-blox.com 1:ef70a58a6c98 248 return (end > pos);
rob.meades@u-blox.com 1:ef70a58a6c98 249 }
rob.meades@u-blox.com 1:ef70a58a6c98 250
rob.meades@u-blox.com 1:ef70a58a6c98 251 bool GnssParser::getNmeaItem(int ix, char* buf, int len, char& val)
rob.meades@u-blox.com 1:ef70a58a6c98 252 {
rob.meades@u-blox.com 1:ef70a58a6c98 253 const char* end = &buf[len];
rob.meades@u-blox.com 1:ef70a58a6c98 254 const char* pos = findNmeaItemPos(ix, buf, end);
rob.meades@u-blox.com 6:56eda66d585b 255 // Find the start
rob.meades@u-blox.com 1:ef70a58a6c98 256 if (!pos)
rob.meades@u-blox.com 1:ef70a58a6c98 257 return false;
rob.meades@u-blox.com 6:56eda66d585b 258 // Skip leading spaces
rob.meades@u-blox.com 1:ef70a58a6c98 259 while ((pos < end) && isspace(*pos))
rob.meades@u-blox.com 1:ef70a58a6c98 260 pos++;
rob.meades@u-blox.com 6:56eda66d585b 261 // Check bound
rob.meades@u-blox.com 1:ef70a58a6c98 262 if ((pos < end) &&
rob.meades@u-blox.com 1:ef70a58a6c98 263 (*pos != ',') && (*pos != '*') && (*pos != '\r') && (*pos != '\n'))
rob.meades@u-blox.com 1:ef70a58a6c98 264 {
rob.meades@u-blox.com 1:ef70a58a6c98 265 val = *pos;
rob.meades@u-blox.com 1:ef70a58a6c98 266 return true;
rob.meades@u-blox.com 1:ef70a58a6c98 267 }
rob.meades@u-blox.com 1:ef70a58a6c98 268 return false;
rob.meades@u-blox.com 1:ef70a58a6c98 269 }
rob.meades@u-blox.com 1:ef70a58a6c98 270
rob.meades@u-blox.com 1:ef70a58a6c98 271 bool GnssParser::getNmeaAngle(int ix, char* buf, int len, double& val)
rob.meades@u-blox.com 1:ef70a58a6c98 272 {
rob.meades@u-blox.com 1:ef70a58a6c98 273 char ch;
rob.meades@u-blox.com 1:ef70a58a6c98 274 if (getNmeaItem(ix,buf,len,val) && getNmeaItem(ix+1,buf,len,ch) &&
rob.meades@u-blox.com 1:ef70a58a6c98 275 ((ch == 'S') || (ch == 'N') || (ch == 'E') || (ch == 'W')))
rob.meades@u-blox.com 1:ef70a58a6c98 276 {
rob.meades@u-blox.com 1:ef70a58a6c98 277 val *= 0.01;
rob.meades@u-blox.com 1:ef70a58a6c98 278 int i = (int)val;
rob.meades@u-blox.com 1:ef70a58a6c98 279 val = (val - i) / 0.6 + i;
rob.meades@u-blox.com 1:ef70a58a6c98 280 if (ch == 'S' || ch == 'W')
rob.meades@u-blox.com 1:ef70a58a6c98 281 val = -val;
rob.meades@u-blox.com 1:ef70a58a6c98 282 return true;
rob.meades@u-blox.com 1:ef70a58a6c98 283 }
rob.meades@u-blox.com 1:ef70a58a6c98 284 return false;
rob.meades@u-blox.com 1:ef70a58a6c98 285 }
fahim.alavi@u-blox.com 8:720841961804 286
fahim.alavi@u-blox.com 8:720841961804 287 int GnssParser::enable_ubx() {
fahim.alavi@u-blox.com 8:720841961804 288
fahim.alavi@u-blox.com 15:105cf3ca48c9 289 unsigned char ubx_cfg_prt[]={0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x00, 0xC2, 0x01, 0x00, 0x03, 0x00, 0x03, 0x00, 0x00, 0x00,0x00, 0x00};
fahim.alavi@u-blox.com 8:720841961804 290 int conf = RETRY;
fahim.alavi@u-blox.com 8:720841961804 291 int length = 0;
fahim.alavi@u-blox.com 8:720841961804 292
fahim.alavi@u-blox.com 8:720841961804 293 while(conf)
fahim.alavi@u-blox.com 8:720841961804 294 {
fahim.alavi@u-blox.com 8:720841961804 295 length = sendUbx(0x06, 0x00, ubx_cfg_prt, sizeof(ubx_cfg_prt));
fahim.alavi@u-blox.com 8:720841961804 296 if(length >= (int)(sizeof(ubx_cfg_prt) + UBX_FRAME_SIZE))
fahim.alavi@u-blox.com 8:720841961804 297 {
fahim.alavi@u-blox.com 8:720841961804 298 wait(5);
fahim.alavi@u-blox.com 8:720841961804 299 break;
fahim.alavi@u-blox.com 8:720841961804 300 }
fahim.alavi@u-blox.com 8:720841961804 301 else
fahim.alavi@u-blox.com 8:720841961804 302 {
fahim.alavi@u-blox.com 8:720841961804 303 conf = conf - 1;
fahim.alavi@u-blox.com 8:720841961804 304 }
fahim.alavi@u-blox.com 8:720841961804 305 }
Bilal Qamar 12:a04f7eeece23 306 return (conf == 0) ? 0 : 1;
fahim.alavi@u-blox.com 8:720841961804 307 }
fahim.alavi@u-blox.com 8:720841961804 308
fahim.alavi@u-blox.com 8:720841961804 309 eUBX_MESSAGE GnssParser::get_ubx_message(char *buff) {
fahim.alavi@u-blox.com 8:720841961804 310 eUBX_MESSAGE return_value = UNKNOWN_UBX;
fahim.alavi@u-blox.com 8:720841961804 311
fahim.alavi@u-blox.com 8:720841961804 312 if(buff[SYNC_CHAR_INDEX_1] == 0xB5 && buff[SYNC_CHAR_INDEX_2] == 0x62) {
fahim.alavi@u-blox.com 8:720841961804 313
fahim.alavi@u-blox.com 8:720841961804 314 switch (buff[MSG_CLASS_INDEX]) {
fahim.alavi@u-blox.com 8:720841961804 315
fahim.alavi@u-blox.com 8:720841961804 316 case NAV: {
fahim.alavi@u-blox.com 8:720841961804 317 switch (buff[MSG_ID_INDEX]) {
fahim.alavi@u-blox.com 8:720841961804 318
fahim.alavi@u-blox.com 8:720841961804 319 case 0x07: {
fahim.alavi@u-blox.com 8:720841961804 320 return_value = UBX_NAV_PVT;
fahim.alavi@u-blox.com 8:720841961804 321 }
fahim.alavi@u-blox.com 8:720841961804 322 break;
fahim.alavi@u-blox.com 8:720841961804 323 case 0x09: {
fahim.alavi@u-blox.com 8:720841961804 324 return_value = UBX_NAV_ODO;
fahim.alavi@u-blox.com 8:720841961804 325 }
fahim.alavi@u-blox.com 8:720841961804 326 break;
fahim.alavi@u-blox.com 8:720841961804 327 default:
fahim.alavi@u-blox.com 8:720841961804 328 {
fahim.alavi@u-blox.com 8:720841961804 329 return_value = UNKNOWN_UBX;
fahim.alavi@u-blox.com 8:720841961804 330 }
fahim.alavi@u-blox.com 8:720841961804 331 break;
fahim.alavi@u-blox.com 8:720841961804 332 }
fahim.alavi@u-blox.com 8:720841961804 333 }
fahim.alavi@u-blox.com 8:720841961804 334 break;
fahim.alavi@u-blox.com 8:720841961804 335 case ACK: {
fahim.alavi@u-blox.com 8:720841961804 336 switch (buff[MSG_ID_INDEX]) {
fahim.alavi@u-blox.com 8:720841961804 337 case 0x00: {
fahim.alavi@u-blox.com 8:720841961804 338 return_value = UBX_ACK_NAK;
fahim.alavi@u-blox.com 8:720841961804 339 }
fahim.alavi@u-blox.com 8:720841961804 340 break;
fahim.alavi@u-blox.com 8:720841961804 341 case 0x01: {
fahim.alavi@u-blox.com 8:720841961804 342 return_value = UBX_ACK_ACK;
fahim.alavi@u-blox.com 8:720841961804 343 }
fahim.alavi@u-blox.com 8:720841961804 344 break;
fahim.alavi@u-blox.com 8:720841961804 345 default:
fahim.alavi@u-blox.com 8:720841961804 346 {
fahim.alavi@u-blox.com 8:720841961804 347 return_value = UNKNOWN_UBX;
fahim.alavi@u-blox.com 8:720841961804 348 }
fahim.alavi@u-blox.com 8:720841961804 349 break;
fahim.alavi@u-blox.com 8:720841961804 350 }
fahim.alavi@u-blox.com 8:720841961804 351 }
fahim.alavi@u-blox.com 8:720841961804 352 break;
fahim.alavi@u-blox.com 8:720841961804 353 case LOG: {
fahim.alavi@u-blox.com 8:720841961804 354 switch (buff[MSG_ID_INDEX]) {
fahim.alavi@u-blox.com 8:720841961804 355 case 0x11: {
fahim.alavi@u-blox.com 8:720841961804 356 return_value = UBX_LOG_BATCH;
fahim.alavi@u-blox.com 8:720841961804 357 }
fahim.alavi@u-blox.com 8:720841961804 358 break;
fahim.alavi@u-blox.com 8:720841961804 359 default:
fahim.alavi@u-blox.com 8:720841961804 360 {
fahim.alavi@u-blox.com 8:720841961804 361 return_value = UNKNOWN_UBX;
fahim.alavi@u-blox.com 8:720841961804 362 }
fahim.alavi@u-blox.com 8:720841961804 363 break;
fahim.alavi@u-blox.com 8:720841961804 364 }
fahim.alavi@u-blox.com 8:720841961804 365 }
fahim.alavi@u-blox.com 8:720841961804 366 break;
fahim.alavi@u-blox.com 8:720841961804 367 default:
fahim.alavi@u-blox.com 8:720841961804 368 {
fahim.alavi@u-blox.com 8:720841961804 369 return_value = UNKNOWN_UBX;
fahim.alavi@u-blox.com 8:720841961804 370 }
fahim.alavi@u-blox.com 8:720841961804 371 break;
fahim.alavi@u-blox.com 8:720841961804 372 }
fahim.alavi@u-blox.com 8:720841961804 373 }
fahim.alavi@u-blox.com 8:720841961804 374 return return_value;
fahim.alavi@u-blox.com 8:720841961804 375 }
fahim.alavi@u-blox.com 8:720841961804 376
fahim.alavi@u-blox.com 9:cff83b9f5093 377 tUBX_ACK_ACK GnssParser::decode_ubx_cfg_ack_nak_msg(char *buf) {
fahim.alavi@u-blox.com 9:cff83b9f5093 378 tUBX_ACK_ACK return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 379 uint8_t index = UBX_PAYLOAD_INDEX;
fahim.alavi@u-blox.com 8:720841961804 380
fahim.alavi@u-blox.com 8:720841961804 381 return_decoded_msg.msg_class = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 382 return_decoded_msg.msg_id = buf[index];
fahim.alavi@u-blox.com 8:720841961804 383
fahim.alavi@u-blox.com 8:720841961804 384 return return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 385 }
fahim.alavi@u-blox.com 8:720841961804 386
fahim.alavi@u-blox.com 8:720841961804 387 tUBX_NAV_ODO GnssParser::decode_ubx_nav_odo_msg(char *buf) {
fahim.alavi@u-blox.com 8:720841961804 388 tUBX_NAV_ODO return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 389 uint8_t index = UBX_PAYLOAD_INDEX;
fahim.alavi@u-blox.com 8:720841961804 390
fahim.alavi@u-blox.com 8:720841961804 391 return_decoded_msg.version = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 392 index +=3; // 3 bytes are reserved
fahim.alavi@u-blox.com 8:720841961804 393
fahim.alavi@u-blox.com 8:720841961804 394 return_decoded_msg.itow = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 395 return_decoded_msg.itow |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 396 return_decoded_msg.itow |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 397 return_decoded_msg.itow |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 398
fahim.alavi@u-blox.com 8:720841961804 399 return_decoded_msg.distance = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 400 return_decoded_msg.distance |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 401 return_decoded_msg.distance |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 402 return_decoded_msg.distance |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 403
fahim.alavi@u-blox.com 8:720841961804 404 return_decoded_msg.totalDistance = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 405 return_decoded_msg.totalDistance |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 406 return_decoded_msg.totalDistance |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 407 return_decoded_msg.totalDistance |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 408
fahim.alavi@u-blox.com 8:720841961804 409 return_decoded_msg.distanceSTD = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 410 return_decoded_msg.distanceSTD |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 411 return_decoded_msg.distanceSTD |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 412 return_decoded_msg.distanceSTD |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 413
fahim.alavi@u-blox.com 8:720841961804 414 return return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 415 }
fahim.alavi@u-blox.com 8:720841961804 416
fahim.alavi@u-blox.com 8:720841961804 417 tUBX_NAV_PVT GnssParser::decode_ubx_nav_pvt_msg(char *buf) {
fahim.alavi@u-blox.com 8:720841961804 418 tUBX_NAV_PVT return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 419 uint8_t index = UBX_PAYLOAD_INDEX;
fahim.alavi@u-blox.com 8:720841961804 420
fahim.alavi@u-blox.com 8:720841961804 421 return_decoded_msg.itow = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 422 return_decoded_msg.itow |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 423 return_decoded_msg.itow |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 424 return_decoded_msg.itow |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 425
fahim.alavi@u-blox.com 8:720841961804 426 return_decoded_msg.year = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 427 return_decoded_msg.year |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 428
fahim.alavi@u-blox.com 8:720841961804 429 return_decoded_msg.month = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 430
fahim.alavi@u-blox.com 8:720841961804 431 return_decoded_msg.day = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 432
fahim.alavi@u-blox.com 8:720841961804 433 // Go to lon
fahim.alavi@u-blox.com 8:720841961804 434 index = UBX_PAYLOAD_INDEX + 24;
fahim.alavi@u-blox.com 8:720841961804 435
fahim.alavi@u-blox.com 8:720841961804 436 return_decoded_msg.lon = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 437 return_decoded_msg.lon |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 438 return_decoded_msg.lon |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 439 return_decoded_msg.lon |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 440
fahim.alavi@u-blox.com 8:720841961804 441 return_decoded_msg.lat = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 442 return_decoded_msg.lat |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 443 return_decoded_msg.lat |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 444 return_decoded_msg.lat |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 445
fahim.alavi@u-blox.com 8:720841961804 446 return_decoded_msg.height = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 447 return_decoded_msg.height |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 448 return_decoded_msg.height |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 449 return_decoded_msg.height |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 450
fahim.alavi@u-blox.com 8:720841961804 451 return return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 452 }
fahim.alavi@u-blox.com 8:720841961804 453
fahim.alavi@u-blox.com 8:720841961804 454 tUBX_LOG_BATCH GnssParser::decode_ubx_log_batch_msg(char *buf) {
fahim.alavi@u-blox.com 8:720841961804 455 tUBX_LOG_BATCH return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 456 uint8_t index = UBX_PAYLOAD_INDEX;
fahim.alavi@u-blox.com 8:720841961804 457
fahim.alavi@u-blox.com 8:720841961804 458 // move index itow
fahim.alavi@u-blox.com 8:720841961804 459 index = UBX_PAYLOAD_INDEX + 4;
fahim.alavi@u-blox.com 8:720841961804 460
fahim.alavi@u-blox.com 8:720841961804 461 return_decoded_msg.itow = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 462 return_decoded_msg.itow |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 463 return_decoded_msg.itow |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 464 return_decoded_msg.itow |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 465
fahim.alavi@u-blox.com 8:720841961804 466 // move index lon
fahim.alavi@u-blox.com 8:720841961804 467 index = UBX_PAYLOAD_INDEX + 24;
fahim.alavi@u-blox.com 8:720841961804 468
fahim.alavi@u-blox.com 8:720841961804 469 return_decoded_msg.lon = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 470 return_decoded_msg.lon |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 471 return_decoded_msg.lon |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 472 return_decoded_msg.lon |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 473
fahim.alavi@u-blox.com 8:720841961804 474 return_decoded_msg.lat = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 475 return_decoded_msg.lat |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 476 return_decoded_msg.lat |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 477 return_decoded_msg.lat |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 478
fahim.alavi@u-blox.com 8:720841961804 479 return_decoded_msg.height = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 480 return_decoded_msg.height |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 481 return_decoded_msg.height |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 482 return_decoded_msg.height |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 483
fahim.alavi@u-blox.com 8:720841961804 484 // move index to distance
fahim.alavi@u-blox.com 8:720841961804 485 index = UBX_PAYLOAD_INDEX + 84;
fahim.alavi@u-blox.com 8:720841961804 486
fahim.alavi@u-blox.com 8:720841961804 487 return_decoded_msg.distance = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 488 return_decoded_msg.distance |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 489 return_decoded_msg.distance |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 490 return_decoded_msg.distance |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 491
fahim.alavi@u-blox.com 8:720841961804 492 return_decoded_msg.totalDistance = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 493 return_decoded_msg.totalDistance |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 494 return_decoded_msg.totalDistance |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 495 return_decoded_msg.totalDistance |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 496
fahim.alavi@u-blox.com 8:720841961804 497 return_decoded_msg.distanceSTD = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 498 return_decoded_msg.distanceSTD |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 499 return_decoded_msg.distanceSTD |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 500 return_decoded_msg.distanceSTD |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 501
fahim.alavi@u-blox.com 8:720841961804 502 return return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 503 }
fahim.alavi@u-blox.com 10:bfa9081e1d14 504
fahim.alavi@u-blox.com 10:bfa9081e1d14 505 int GnssParser::ubx_request_batched_data(bool sendMonFirst) {
fahim.alavi@u-blox.com 10:bfa9081e1d14 506 unsigned char ubx_log_retrieve_batch[]={0x00, 0x00, 0x00, 0x00};
fahim.alavi@u-blox.com 10:bfa9081e1d14 507
fahim.alavi@u-blox.com 10:bfa9081e1d14 508 ubx_log_retrieve_batch[1] = (sendMonFirst == true) ? 0x01 : 0x00;
fahim.alavi@u-blox.com 10:bfa9081e1d14 509
fahim.alavi@u-blox.com 10:bfa9081e1d14 510 int conf = RETRY;
fahim.alavi@u-blox.com 10:bfa9081e1d14 511 while(conf)
fahim.alavi@u-blox.com 10:bfa9081e1d14 512 {
fahim.alavi@u-blox.com 10:bfa9081e1d14 513
fahim.alavi@u-blox.com 10:bfa9081e1d14 514 int length = sendUbx(0x21, 0x10, ubx_log_retrieve_batch, sizeof(ubx_log_retrieve_batch));
fahim.alavi@u-blox.com 10:bfa9081e1d14 515 if(length >= (int)(sizeof(ubx_log_retrieve_batch) + UBX_FRAME_SIZE))
fahim.alavi@u-blox.com 10:bfa9081e1d14 516 {
fahim.alavi@u-blox.com 10:bfa9081e1d14 517 wait(5);
fahim.alavi@u-blox.com 10:bfa9081e1d14 518 break;
fahim.alavi@u-blox.com 10:bfa9081e1d14 519 }
fahim.alavi@u-blox.com 10:bfa9081e1d14 520 else
fahim.alavi@u-blox.com 10:bfa9081e1d14 521 {
fahim.alavi@u-blox.com 10:bfa9081e1d14 522 conf = conf - 1;
fahim.alavi@u-blox.com 10:bfa9081e1d14 523 }
fahim.alavi@u-blox.com 10:bfa9081e1d14 524 }
fahim.alavi@u-blox.com 10:bfa9081e1d14 525 if(conf == 0)
fahim.alavi@u-blox.com 10:bfa9081e1d14 526 {
fahim.alavi@u-blox.com 10:bfa9081e1d14 527 return 1;
fahim.alavi@u-blox.com 10:bfa9081e1d14 528 }
fahim.alavi@u-blox.com 10:bfa9081e1d14 529
fahim.alavi@u-blox.com 10:bfa9081e1d14 530 return 0;
fahim.alavi@u-blox.com 10:bfa9081e1d14 531 }
rob.meades@u-blox.com 1:ef70a58a6c98 532
rob.meades@u-blox.com 1:ef70a58a6c98 533 const char GnssParser::_toHex[] = { '0','1','2','3','4','5','6','7','8','9','A','B','C','D','E','F' };
rob.meades@u-blox.com 1:ef70a58a6c98 534
rob.meades@u-blox.com 1:ef70a58a6c98 535 // ----------------------------------------------------------------
rob.meades@u-blox.com 1:ef70a58a6c98 536 // Serial Implementation
rob.meades@u-blox.com 1:ef70a58a6c98 537 // ----------------------------------------------------------------
rob.meades@u-blox.com 1:ef70a58a6c98 538
rob.meades@u-blox.com 1:ef70a58a6c98 539 GnssSerial::GnssSerial(PinName tx /*= GNSSTXD */, PinName rx /*= GNSSRXD */, int baudrate /*= GNSSBAUD */,
rob.meades@u-blox.com 4:82308d600690 540 int rxSize /*= 256 */, int txSize /*= 128 */) :
rob.meades@u-blox.com 1:ef70a58a6c98 541 SerialPipe(tx, rx, baudrate, rxSize, txSize)
rob.meades@u-blox.com 1:ef70a58a6c98 542 {
rob.meades@u-blox.com 1:ef70a58a6c98 543 baud(baudrate);
rob.meades@u-blox.com 1:ef70a58a6c98 544 }
rob.meades@u-blox.com 1:ef70a58a6c98 545
rob.meades@u-blox.com 1:ef70a58a6c98 546 GnssSerial::~GnssSerial(void)
rob.meades@u-blox.com 1:ef70a58a6c98 547 {
rob.meades@u-blox.com 1:ef70a58a6c98 548 powerOff();
rob.meades@u-blox.com 1:ef70a58a6c98 549 }
rob.meades@u-blox.com 1:ef70a58a6c98 550
rob.meades@u-blox.com 1:ef70a58a6c98 551 bool GnssSerial::init(PinName pn)
rob.meades@u-blox.com 1:ef70a58a6c98 552 {
rob.meades@u-blox.com 6:56eda66d585b 553 Timer timer;
rob.meades@u-blox.com 6:56eda66d585b 554 int size;
rob.meades@u-blox.com 6:56eda66d585b 555
rob.meades@u-blox.com 4:82308d600690 556 // Unused (kept only for compatibility with the I2C version)
rob.meades@u-blox.com 4:82308d600690 557 (void)pn;
rob.meades@u-blox.com 4:82308d600690 558
rob.meades@u-blox.com 1:ef70a58a6c98 559 // Power up and enable the module
rob.meades@u-blox.com 1:ef70a58a6c98 560 _powerOn();
rob.meades@u-blox.com 1:ef70a58a6c98 561
rob.meades@u-blox.com 6:56eda66d585b 562 // Send a byte to wakup the device again
rob.meades@u-blox.com 1:ef70a58a6c98 563 putc(0xFF);
rob.meades@u-blox.com 6:56eda66d585b 564 // Wait until we get some bytes
rob.meades@u-blox.com 6:56eda66d585b 565 size = _pipeRx.size();
rob.meades@u-blox.com 1:ef70a58a6c98 566 timer.start();
rob.meades@u-blox.com 6:56eda66d585b 567 while ((timer.read_ms() < 1000) && (size == _pipeRx.size())) {
rob.meades@u-blox.com 6:56eda66d585b 568 /* Nothing, just wait */
rob.meades@u-blox.com 6:56eda66d585b 569 }
rob.meades@u-blox.com 6:56eda66d585b 570 timer.stop();
rob.meades@u-blox.com 6:56eda66d585b 571
fahim.alavi@u-blox.com 8:720841961804 572 enable_ubx();
fahim.alavi@u-blox.com 8:720841961804 573
fahim.alavi@u-blox.com 15:105cf3ca48c9 574 wait_ms(1000);
fahim.alavi@u-blox.com 15:105cf3ca48c9 575
fahim.alavi@u-blox.com 15:105cf3ca48c9 576 baud(115200);
fahim.alavi@u-blox.com 15:105cf3ca48c9 577
fahim.alavi@u-blox.com 15:105cf3ca48c9 578 // Send a byte to wakup the device again
fahim.alavi@u-blox.com 15:105cf3ca48c9 579 putc(0xFF);
fahim.alavi@u-blox.com 15:105cf3ca48c9 580 // Wait until we get some bytes
fahim.alavi@u-blox.com 15:105cf3ca48c9 581 size = _pipeRx.size();
fahim.alavi@u-blox.com 15:105cf3ca48c9 582 timer.start();
fahim.alavi@u-blox.com 15:105cf3ca48c9 583 while ((timer.read_ms() < 1000) && (size == _pipeRx.size())) {
fahim.alavi@u-blox.com 15:105cf3ca48c9 584 /* Nothing, just wait */
fahim.alavi@u-blox.com 15:105cf3ca48c9 585 }
fahim.alavi@u-blox.com 15:105cf3ca48c9 586
rob.meades@u-blox.com 1:ef70a58a6c98 587 return (size != _pipeRx.size());
rob.meades@u-blox.com 1:ef70a58a6c98 588 }
rob.meades@u-blox.com 1:ef70a58a6c98 589
rob.meades@u-blox.com 1:ef70a58a6c98 590 int GnssSerial::getMessage(char* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 591 {
rob.meades@u-blox.com 1:ef70a58a6c98 592 return _getMessage(&_pipeRx, buf, len);
rob.meades@u-blox.com 1:ef70a58a6c98 593 }
rob.meades@u-blox.com 1:ef70a58a6c98 594
rob.meades@u-blox.com 1:ef70a58a6c98 595 int GnssSerial::_send(const void* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 596 {
rob.meades@u-blox.com 1:ef70a58a6c98 597 return put((const char*)buf, len, true/*=blocking*/);
rob.meades@u-blox.com 1:ef70a58a6c98 598 }
rob.meades@u-blox.com 1:ef70a58a6c98 599
rob.meades@u-blox.com 1:ef70a58a6c98 600 // ----------------------------------------------------------------
rob.meades@u-blox.com 1:ef70a58a6c98 601 // I2C Implementation
rob.meades@u-blox.com 1:ef70a58a6c98 602 // ----------------------------------------------------------------
rob.meades@u-blox.com 1:ef70a58a6c98 603
rob.meades@u-blox.com 1:ef70a58a6c98 604 GnssI2C::GnssI2C(PinName sda /*= NC */, PinName scl /*= NC */,
rob.meades@u-blox.com 1:ef70a58a6c98 605 unsigned char i2cAdr /*= (66<<1) */, int rxSize /*= 256 */) :
rob.meades@u-blox.com 1:ef70a58a6c98 606 I2C(sda,scl),
rob.meades@u-blox.com 1:ef70a58a6c98 607 _pipe(rxSize),
rob.meades@u-blox.com 1:ef70a58a6c98 608 _i2cAdr(i2cAdr)
rob.meades@u-blox.com 1:ef70a58a6c98 609 {
rob.meades@u-blox.com 1:ef70a58a6c98 610 frequency(100000);
rob.meades@u-blox.com 1:ef70a58a6c98 611 }
rob.meades@u-blox.com 1:ef70a58a6c98 612
rob.meades@u-blox.com 1:ef70a58a6c98 613 GnssI2C::~GnssI2C(void)
rob.meades@u-blox.com 1:ef70a58a6c98 614 {
rob.meades@u-blox.com 1:ef70a58a6c98 615 powerOff();
rob.meades@u-blox.com 1:ef70a58a6c98 616 }
rob.meades@u-blox.com 1:ef70a58a6c98 617
rob.meades@u-blox.com 1:ef70a58a6c98 618 bool GnssI2C::init(PinName pn)
rob.meades@u-blox.com 1:ef70a58a6c98 619 {
rob.meades@u-blox.com 1:ef70a58a6c98 620 // Power up and enable the module
rob.meades@u-blox.com 1:ef70a58a6c98 621 _powerOn();
rob.meades@u-blox.com 1:ef70a58a6c98 622
rob.meades@u-blox.com 1:ef70a58a6c98 623 if (pn != NC) {
rob.meades@u-blox.com 1:ef70a58a6c98 624 DigitalOut pin(pn, 0);
rob.meades@u-blox.com 1:ef70a58a6c98 625 ::wait_us(1);
rob.meades@u-blox.com 1:ef70a58a6c98 626 pin = 1;
rob.meades@u-blox.com 1:ef70a58a6c98 627 ::wait_ms(100);
rob.meades@u-blox.com 1:ef70a58a6c98 628 }
rob.meades@u-blox.com 1:ef70a58a6c98 629 return !I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM));
rob.meades@u-blox.com 1:ef70a58a6c98 630 }
rob.meades@u-blox.com 1:ef70a58a6c98 631
rob.meades@u-blox.com 1:ef70a58a6c98 632 int GnssI2C::getMessage(char* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 633 {
rob.meades@u-blox.com 6:56eda66d585b 634 // Fill the pipe
rob.meades@u-blox.com 1:ef70a58a6c98 635 int sz = _pipe.free();
rob.meades@u-blox.com 1:ef70a58a6c98 636 if (sz)
rob.meades@u-blox.com 1:ef70a58a6c98 637 sz = _get(buf, sz);
rob.meades@u-blox.com 1:ef70a58a6c98 638 if (sz)
rob.meades@u-blox.com 1:ef70a58a6c98 639 _pipe.put(buf, sz);
rob.meades@u-blox.com 6:56eda66d585b 640 // Now parse it
rob.meades@u-blox.com 1:ef70a58a6c98 641 return _getMessage(&_pipe, buf, len);
rob.meades@u-blox.com 1:ef70a58a6c98 642 }
rob.meades@u-blox.com 1:ef70a58a6c98 643
rob.meades@u-blox.com 1:ef70a58a6c98 644 int GnssI2C::send(const char* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 645 {
rob.meades@u-blox.com 1:ef70a58a6c98 646 int sent = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 647 if (len)
rob.meades@u-blox.com 1:ef70a58a6c98 648 {
rob.meades@u-blox.com 1:ef70a58a6c98 649 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
rob.meades@u-blox.com 1:ef70a58a6c98 650 sent = send(buf, len);
rob.meades@u-blox.com 1:ef70a58a6c98 651 stop();
rob.meades@u-blox.com 1:ef70a58a6c98 652 }
rob.meades@u-blox.com 1:ef70a58a6c98 653 return sent;
rob.meades@u-blox.com 1:ef70a58a6c98 654 }
rob.meades@u-blox.com 1:ef70a58a6c98 655
rob.meades@u-blox.com 1:ef70a58a6c98 656 int GnssI2C::sendNmea(const char* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 657 {
rob.meades@u-blox.com 1:ef70a58a6c98 658 int sent = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 659 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
rob.meades@u-blox.com 1:ef70a58a6c98 660 sent = GnssParser::sendNmea(buf, len);
rob.meades@u-blox.com 1:ef70a58a6c98 661 stop();
rob.meades@u-blox.com 1:ef70a58a6c98 662 return sent;
rob.meades@u-blox.com 1:ef70a58a6c98 663 }
rob.meades@u-blox.com 1:ef70a58a6c98 664
rob.meades@u-blox.com 1:ef70a58a6c98 665 int GnssI2C::sendUbx(unsigned char cls, unsigned char id, const void* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 666 {
rob.meades@u-blox.com 1:ef70a58a6c98 667 int sent = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 668 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
rob.meades@u-blox.com 1:ef70a58a6c98 669 sent = GnssParser::sendUbx(cls, id, buf, len);
rob.meades@u-blox.com 1:ef70a58a6c98 670 I2C::stop();
rob.meades@u-blox.com 1:ef70a58a6c98 671 return sent;
rob.meades@u-blox.com 1:ef70a58a6c98 672 }
rob.meades@u-blox.com 1:ef70a58a6c98 673
rob.meades@u-blox.com 1:ef70a58a6c98 674 int GnssI2C::_get(char* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 675 {
rob.meades@u-blox.com 1:ef70a58a6c98 676 int read = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 677 unsigned char sz[2] = {0,0};
rob.meades@u-blox.com 1:ef70a58a6c98 678 if (!I2C::write(_i2cAdr,&REGLEN,sizeof(REGLEN),true) &&
rob.meades@u-blox.com 1:ef70a58a6c98 679 !I2C::read(_i2cAdr,(char*)sz,sizeof(sz)))
rob.meades@u-blox.com 1:ef70a58a6c98 680 {
rob.meades@u-blox.com 1:ef70a58a6c98 681 int size = 256 * (int)sz[0] + sz[1];
rob.meades@u-blox.com 1:ef70a58a6c98 682 if (size > len)
rob.meades@u-blox.com 1:ef70a58a6c98 683 size = len;
rob.meades@u-blox.com 1:ef70a58a6c98 684 if (size > 0)
rob.meades@u-blox.com 1:ef70a58a6c98 685 {
rob.meades@u-blox.com 1:ef70a58a6c98 686 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true) &&
rob.meades@u-blox.com 1:ef70a58a6c98 687 !I2C::read(_i2cAdr,buf,size)) {
rob.meades@u-blox.com 1:ef70a58a6c98 688 read = size;
rob.meades@u-blox.com 1:ef70a58a6c98 689 }
rob.meades@u-blox.com 1:ef70a58a6c98 690 }
rob.meades@u-blox.com 1:ef70a58a6c98 691 }
rob.meades@u-blox.com 1:ef70a58a6c98 692 return read;
rob.meades@u-blox.com 1:ef70a58a6c98 693 }
rob.meades@u-blox.com 1:ef70a58a6c98 694
rob.meades@u-blox.com 1:ef70a58a6c98 695 int GnssI2C::_send(const void* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 696 {
rob.meades@u-blox.com 1:ef70a58a6c98 697 return !I2C::write(_i2cAdr,(const char*)buf,len,true) ? len : 0;
rob.meades@u-blox.com 1:ef70a58a6c98 698 }
rob.meades@u-blox.com 1:ef70a58a6c98 699
rob.meades@u-blox.com 1:ef70a58a6c98 700 const char GnssI2C::REGLEN = 0xFD;
rob.meades@u-blox.com 1:ef70a58a6c98 701 const char GnssI2C::REGSTREAM = 0xFF;
rob.meades@u-blox.com 1:ef70a58a6c98 702
rob.meades@u-blox.com 1:ef70a58a6c98 703 // End Of File